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dzp
2024-11-06 09:43:33 +08:00
commit fd8b4d38a2
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35
launch/aloha.launch Normal file
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<launch>
<!-- Enable rviz visualization -->
<arg name="rviz" default="true" />
<!-- Set nodes on debug mode -->
<arg name="debug" default="false" />
<!-- The URDF model of the robot -->
<arg name="urdfFile" value="$(find ocs2_robotic_assets)/resources/mobile_manipulator/aloha/wx250.urdf" />
<!-- The task file for the mpc. -->
<arg name="taskFile" value="$(find ocs2_mobile_manipulator)/config/aloha/task1.info" />
<!-- The library folder to generate CppAD codegen into -->
<arg name="libFolder" value="$(find ocs2_mobile_manipulator)/auto_generated/aloha" />
<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/mobile_manipulator.launch">
<arg name="rviz" value="$(arg rviz)" />
<arg name="debug" value="$(arg debug)" />
<arg name="urdfFile" value="$(arg urdfFile)" />
<arg name="taskFile" value="$(arg taskFile)" />
<arg name="libFolder" value="$(arg libFolder)" />
</include>
<node
name="master_right_transform_broadcaster"
pkg="tf2_ros"
type="static_transform_publisher"
args="0.145 -0.26525 0.45694 0.3826834 0 0 0.9238795 /world /wx250/base_link" />
</launch>

37
launch/include/mobile_manipulator.launch Normal file
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<?xml version="1.0" ?>
<launch>
<!-- Enable rviz visualization -->
<arg name="rviz" default="true" />
<!-- Set nodes on debug mode -->
<arg name="debug" default="false" />
<!-- The URDF model of the robot -->
<arg name="urdfFile" />
<!-- The task file for the mpc. -->
<arg name="taskFile" />
<!-- The library folder to generate CppAD codegen into -->
<arg name="libFolder" />
<!-- make the files into global parameters -->
<param name="taskFile" value="$(arg taskFile)" />
<param name="urdfFile" value="$(arg urdfFile)" />
<param name="libFolder" value="$(arg libFolder)" />
<group if="$(arg rviz)">
<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/visualize.launch">
<arg name="urdfFile" value="$(arg urdfFile)" />
</include>
</group>
<node if="$(arg debug)" pkg="ocs2_mobile_manipulator_ros" type="mobile_manipulator_mpc_node" name="mobile_manipulator_mpc_node"
output="screen" launch-prefix="gnome-terminal -- gdb -ex run --args" />
<node unless="$(arg debug)" pkg="ocs2_mobile_manipulator_ros" type="mobile_manipulator_mpc_node" name="mobile_manipulator_mpc_node"
output="screen" launch-prefix="" />
<node pkg="ocs2_mobile_manipulator_ros" type="mobile_manipulator_dummy_mrt_node" name="mobile_manipulator_dummy_mrt_node"
output="screen" launch-prefix="gnome-terminal --" />
<node if="$(arg rviz)" pkg="ocs2_mobile_manipulator_ros" type="mobile_manipulator_target" name="mobile_manipulator_target"
output="screen" launch-prefix="" />
</launch>

29
launch/include/mobile_manipulator_distance.launch Normal file
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<?xml version="1.0" ?>
<launch>
<!-- The URDF model of the robot -->
<arg name="urdfFile" />
<!-- The task file for the mpc. -->
<arg name="taskFile" />
<!-- Configuration for rviz file -->
<arg name="rvizconfig" value="$(find ocs2_mobile_manipulator_ros)/rviz/mobile_manipulator_distance.rviz" />
<!-- make the files into global parameters -->
<param name="urdfFile" value="$(arg urdfFile)" />
<param name="taskFile" value="$(arg taskFile)" />
<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/visualize.launch">
<arg name="urdfFile" value="$(arg urdfFile)" />
<arg name="rvizconfig" value="$(arg rvizconfig)" />
</include>
<!-- Open joint_state_publisher for alma_c_description with GUI for debugging -->
<node name="mobile_manipulator_joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" output="screen">
<param name="rate" value="100" />
</node>
<node pkg="ocs2_mobile_manipulator_ros" type="mobile_manipulator_distance_visualization" name="mobile_manipulator_distance_visualization" output="screen" />
</launch>

20
launch/include/visualize.launch Normal file
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<?xml version="1.0" ?>
<launch>
<!-- The URDF model of the robot -->
<arg name="urdfFile" />
<!-- Publishes joint state publisher for testing. -->
<arg name="test" default="false"/>
<!-- Enable rviz visualization. -->
<arg name="rviz" default="true"/>
<!-- The rviz configuration file to load. -->
<arg name="rvizconfig" default="$(find ocs2_mobile_manipulator_ros)/rviz/mobile_manipulator.rviz"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg urdfFile)"/>
<param name="use_gui" value="true"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node if="$(arg test)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" output="screen" />
</launch>

21
launch/manipulator_franka.launch Normal file
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<launch>
<!-- Enable rviz visualization -->
<arg name="rviz" default="true" />
<!-- Set nodes on debug mode -->
<arg name="debug" default="false" />
<!-- The URDF model of the robot -->
<arg name="urdfFile" value="$(find ocs2_robotic_assets)/resources/mobile_manipulator/franka/urdf/panda.urdf" />
<!-- The task file for the mpc. -->
<arg name="taskFile" value="$(find ocs2_mobile_manipulator)/config/franka/task.info" />
<!-- The library folder to generate CppAD codegen into -->
<arg name="libFolder" value="$(find ocs2_mobile_manipulator)/auto_generated/franka" />
<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/mobile_manipulator.launch">
<arg name="rviz" value="$(arg rviz)" />
<arg name="debug" value="$(arg debug)" />
<arg name="urdfFile" value="$(arg urdfFile)" />
<arg name="taskFile" value="$(arg taskFile)" />
<arg name="libFolder" value="$(arg libFolder)" />
</include>
</launch>

21
launch/manipulator_kinova_j2n6.launch Normal file
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<launch>
<!-- Enable rviz visualization -->
<arg name="rviz" default="true" />
<!-- Set nodes on debug mode -->
<arg name="debug" default="false" />
<!-- The URDF model of the robot -->
<arg name="urdfFile" value="$(find ocs2_robotic_assets)/resources/mobile_manipulator/kinova/urdf/j2n6s300.urdf" />
<!-- The task file for the mpc. -->
<arg name="taskFile" value="$(find ocs2_mobile_manipulator)/config/kinova/task_j2n6.info" />
<!-- The library folder to generate CppAD codegen into -->
<arg name="libFolder" value="$(find ocs2_mobile_manipulator)/auto_generated/kinova/j2n6" />
<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/mobile_manipulator.launch">
<arg name="rviz" value="$(arg rviz)" />
<arg name="debug" value="$(arg debug)" />
<arg name="urdfFile" value="$(arg urdfFile)" />
<arg name="taskFile" value="$(arg taskFile)" />
<arg name="libFolder" value="$(arg libFolder)" />
</include>
</launch>

21
launch/manipulator_kinova_j2n7.launch Normal file
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<launch>
<!-- Enable rviz visualization -->
<arg name="rviz" default="true" />
<!-- Set nodes on debug mode -->
<arg name="debug" default="false" />
<!-- The URDF model of the robot -->
<arg name="urdfFile" value="$(find ocs2_robotic_assets)/resources/mobile_manipulator/kinova/urdf/j2n7s300.urdf" />
<!-- The task file for the mpc. -->
<arg name="taskFile" value="$(find ocs2_mobile_manipulator)/config/kinova/task_j2n7.info" />
<!-- The library folder to generate CppAD codegen into -->
<arg name="libFolder" value="$(find ocs2_mobile_manipulator)/auto_generated/kinova/j2n7" />
<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/mobile_manipulator.launch">
<arg name="rviz" value="$(arg rviz)" />
<arg name="debug" value="$(arg debug)" />
<arg name="urdfFile" value="$(arg urdfFile)" />
<arg name="taskFile" value="$(arg taskFile)" />
<arg name="libFolder" value="$(arg libFolder)" />
</include>
</launch>

21
launch/manipulator_mabi_mobile.launch Normal file
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<launch>
<!-- Enable rviz visualization -->
<arg name="rviz" default="true" />
<!-- Set nodes on debug mode -->
<arg name="debug" default="false" />
<!-- The URDF model of the robot -->
<arg name="urdfFile" value="$(find ocs2_robotic_assets)/resources/mobile_manipulator/mabi_mobile/urdf/mabi_mobile.urdf" />
<!-- The task file for the mpc. -->
<arg name="taskFile" value="$(find ocs2_mobile_manipulator)/config/mabi_mobile/task.info" />
<!-- The library folder to generate CppAD codegen into -->
<arg name="libFolder" value="$(find ocs2_mobile_manipulator)/auto_generated/mabi_mobile" />
<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/mobile_manipulator.launch">
<arg name="rviz" value="$(arg rviz)" />
<arg name="debug" value="$(arg debug)" />
<arg name="urdfFile" value="$(arg urdfFile)" />
<arg name="taskFile" value="$(arg taskFile)" />
<arg name="libFolder" value="$(arg libFolder)" />
</include>
</launch>

21
launch/manipulator_pr2.launch Normal file
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<launch>
<!-- Enable rviz visualization -->
<arg name="rviz" default="true" />
<!-- Set nodes on debug mode -->
<arg name="debug" default="false" />
<!-- The URDF model of the robot -->
<arg name="urdfFile" value="$(find ocs2_robotic_assets)/resources/mobile_manipulator/pr2/urdf/pr2.urdf" />
<!-- The task file for the mpc. -->
<arg name="taskFile" value="$(find ocs2_mobile_manipulator)/config/pr2/task.info" />
<!-- The library folder to generate CppAD codegen into -->
<arg name="libFolder" value="$(find ocs2_mobile_manipulator)/auto_generated/pr2" />
<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/mobile_manipulator.launch">
<arg name="rviz" value="$(arg rviz)" />
<arg name="debug" value="$(arg debug)" />
<arg name="urdfFile" value="$(arg urdfFile)" />
<arg name="taskFile" value="$(arg taskFile)" />
<arg name="libFolder" value="$(arg libFolder)" />
</include>
</launch>

21
launch/manipulator_realman.launch Normal file
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<launch>
<!-- Enable rviz visualization -->
<arg name="rviz" default="true" />
<!-- Set nodes on debug mode -->
<arg name="debug" default="false" />
<!-- The URDF model of the robot -->
<arg name="urdfFile" value="$(find ocs2_robotic_assets)/resources/mobile_manipulator/realman/urdf/rm_65_new.urdf" />
<!-- The task file for the mpc. -->
<arg name="taskFile" value="$(find ocs2_mobile_manipulator)/config/realman/realman.info" />
<!-- The library folder to generate CppAD codegen into -->
<arg name="libFolder" value="$(find ocs2_mobile_manipulator)/auto_generated/realman/rm_65" />
<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/mobile_manipulator.launch">
<arg name="rviz" value="$(arg rviz)" />
<arg name="debug" value="$(arg debug)" />
<arg name="urdfFile" value="$(arg urdfFile)" />
<arg name="taskFile" value="$(arg taskFile)" />
<arg name="libFolder" value="$(arg libFolder)" />
</include>
</launch>

21
launch/manipulator_ridgeback_ur5.launch Normal file
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<launch>
<!-- Enable rviz visualization -->
<arg name="rviz" default="true" />
<!-- Set nodes on debug mode -->
<arg name="debug" default="false" />
<!-- The URDF model of the robot -->
<arg name="urdfFile" value="$(find ocs2_robotic_assets)/resources/mobile_manipulator/ridgeback_ur5/urdf/ridgeback_ur5.urdf" />
<!-- The task file for the mpc. -->
<arg name="taskFile" value="$(find ocs2_mobile_manipulator)/config/ridgeback_ur5/task.info" />
<!-- The library folder to generate CppAD codegen into -->
<arg name="libFolder" value="$(find ocs2_mobile_manipulator)/auto_generated/ridgeback_ur5" />
<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/mobile_manipulator.launch">
<arg name="rviz" value="$(arg rviz)" />
<arg name="debug" value="$(arg debug)" />
<arg name="urdfFile" value="$(arg urdfFile)" />
<arg name="taskFile" value="$(arg taskFile)" />
<arg name="libFolder" value="$(arg libFolder)" />
</include>
</launch>